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FireFly 2012 v3: restructured into Data/Converter/IK/Servos classes, IR remote, ultrasonic radar head

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From 'hexapodV3 28-april-2012-Backup.rar'. Oud/ is the 2011 code it was based on.
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mangavalk committed 2012-04-28 16:42:59 +02:00
1 parent 2e063fc0d9
commit f690f307c1
30 files changed
+1990
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2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.cpp
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// Watchdog.cpp
#include "Watchdog.h"
void Watchdog::CheckTime(Data *DataLine)
{
if ((millis() >= (DataLine->LastSendTime + DataLine->WalkTime)) & (DataLine->ReadyToSend = true ))
{
DataLine->Send = 1;
DataLine->LastSendTime = millis();
#ifdef DEBUGW
Serial.println("### WatchDog->Watchdog ###");
Serial.print("### ");
Serial.print( millis());
Serial.println(" WatchDog->DataLine.Send = True");
Serial.print("### WatchDog->Watchdog Walktime: ");
Serial.println(DataLine->WalkTime);
#endif
}
else if ((DataLine->LastSendTime == 0 ) & (DataLine->ReadyToSend = true))
{
DataLine->Send = 1;
DataLine->LastSendTime = millis();
#ifdef DEBUGW
Serial.println("### WatchDog->Watchdog Startup ###");
Serial.print("### ");
Serial.print( millis());
Serial.println(" WatchDog->DataLine.Send = True");
Serial.print("### WatchDog->Watchdog Walktime: ");
Serial.println(DataLine->WalkTime);
#endif
}
}